US20200148470A1 - Automated storage and retrieval system - Google Patents
Automated storage and retrieval system Download PDFInfo
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- US20200148470A1 US20200148470A1 US16/492,807 US201816492807A US2020148470A1 US 20200148470 A1 US20200148470 A1 US 20200148470A1 US 201816492807 A US201816492807 A US 201816492807A US 2020148470 A1 US2020148470 A1 US 2020148470A1
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- storage containers
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- 230000032258 transport Effects 0.000 claims description 26
- 238000000034 method Methods 0.000 claims description 7
- 239000004411 aluminium Substances 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0464—Storage devices mechanical with access from above
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0457—Storage devices mechanical with suspended load carriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
- B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
Definitions
- the present invention relates to an automated storage and retrieval system.
- the present invention relates to an automated storage and retrieval system comprising:
- the present invention also relates to a method of operating such an automated storage and retrieval system.
- the present invention also relates to container handling system for transporting storage containers in an automated storage and retrieval system.
- FIG. 1 discloses a framework structure 1 of a typical prior art automated storage and retrieval system and FIG. 2 discloses a container handling vehicle of such a system.
- the framework structure 1 comprises a plurality of upright members 2 and a plurality of horizontal members 3 , which are supported by the upright members 2 .
- the members 2 , 3 may typically be made of metal, e.g. extruded aluminium profiles.
- the framework structure 1 defines a storage grid 4 comprising storage columns 5 arranged in rows, in which storage columns 5 storage containers 6 , also known as bins, are stacked one on top of another to form stacks 7 .
- Each storage container 6 may typically hold a plurality of product items (not shown), and the product items within a storage container 6 may be identical, or may be of different product types depending on the application.
- the framework structure 1 guards against horizontal movement of the stacks 7 of storage containers 6 , and guides vertical movement of the containers 6 , but does normally not otherwise support the storage containers 6 when stacked.
- the horizontal members 3 comprise a rail system 8 arranged in a grid pattern across the top of the storage columns 5 , on which rail system 8 a plurality of container handling vehicles 9 are operated to raise storage containers 6 from and lower storage containers 6 into the storage columns 5 , and also to transport the storage containers 6 above the storage columns 5 .
- the rail system 8 comprises a first set of parallel rails 10 arranged to guide movement of the container handling vehicles 9 in a first direction X across the top of the frame structure 1 , and a second set of parallel rails 11 arranged perpendicular to the first set of rails 10 to guide movement of the container handling vehicles 9 in a second direction Y, which is perpendicular to the first direction X.
- the rail system 8 defines grid columns 12 above which the container handling vehicles 9 can move laterally above the storage columns 5 , i.e. in a plane which is parallel to the horizontal X-Y plane.
- Each container handling vehicle 9 comprises a vehicle body 13 and first and second sets of wheels 14 , 15 which enable the lateral movement of the container handling vehicle 9 , i.e. the movement in the X and Y directions.
- the first set of wheels 14 is arranged to engage with two adjacent rails of the first set 10 of rails
- the second set of wheels 15 arranged to engage with two adjacent rails of the second set 11 of rails.
- At least one of the set of wheels 14 , 15 can be lifted and lowered, so that the first set of wheels 14 and/or the second set of wheels 15 can be engaged with the respective set of rails 10 , 11 at any one time.
- Each container handling vehicle 9 also comprises a lifting device (not shown in FIG. 1 ) for vertical transportation of storage containers 6 , e.g. raising a storage container 6 from and lowering a storage container 6 into a storage column 5 .
- the lifting device comprises a gripping device (not shown) which is adapted to engage a storage container 6 , which gripping device can be lowered from the vehicle body 13 so that the position of the gripping device with respect to the vehicle body 13 can be adjusted in a third direction Z, which is orthogonal the first direction X and the second direction Y.
- Each container handling vehicle 9 comprises a storage compartment or space for receiving and stowing a storage container 6 when transporting the storage container 6 across the grid 4 .
- the storage space may comprise a cavity arranged centrally within the vehicle body 13 , e.g. as is described in WO2014/090684A1, the contents of which are incorporated herein by reference.
- the container handling vehicles may have a cantilever construction, as is described in NO317366, the contents of which are also incorporated herein by reference.
- the container handling vehicles 9 may have a footprint and vertical projection, i.e. an extension in the X and Y directions, i.e. in a horizontal extension, which is generally equal to the lateral or horizontal extension of a grid column 12 , i.e. the extension of a grid column 12 in the X and Y directions, e.g. as is described in WO2015/193278A1, the contents of which are incorporated herein by reference.
- the container handling vehicles 9 may have a footprint and vertical projection which is larger than the lateral or horizontal extension of a grid column 12 , e.g. as is disclosed in WO2014/090684A1.
- the rail system 8 may be a single rail system, as is shown in FIG. 3 .
- the rail system 8 may be a double rail system, as is shown in FIG. 4 , thus allowing a container handling vehicle 9 having a vertical projection 22 generally corresponding to the lateral extension of a grid column 12 to travel along a row of grid columns even if another container handling vehicle 9 is positioned above a grid column neighbouring that row.
- a majority of the grid columns 12 are storage columns 5 , i.e. grid columns where storage containers are stored in stacks.
- a grid normally has at least one grid column which is used not for storing storage containers, but which comprises a location where the container handling vehicles can drop off and/or pick up storage containers so that they can be transported to an access station where the storage containers can be access from outside of the grid or transferred out of or into the grid.
- a location is normally referred to as a “port” and the grid column in which the port is located may be referred to as a port column.
- the grid 4 in FIG. 1 comprises two port columns 19 and 20 .
- the first port column 19 may for example be a dedicated drop-off port column where the container handling vehicles 9 can drop off storage containers to be transported to an access or a transfer station (not shown), and the second port 20 column may be a dedicated pick-up port column where the container handling vehicles 9 can pick up storage containers that have been transported to the grid 4 from an access or a transfer station.
- the access station may typically be a picking or a stocking station where product items are removed from or positioned into the storage containers.
- the storage containers are normally never removed from the automated storage and retrieval system, but are returned back into the grid once accessed.
- a port can also be used for transferring storage containers out of or into the grid, e.g. for transferring storage containers to another storage facility (e.g. to another grid or to another automated storage and retrieval system), to a transport vehicle (e.g. a train or a lorry), or to a production facility.
- a conveyor system comprising conveyors is normally employed to transport the storage containers between the ports and the access station.
- the conveyor system may comprise a lift device for transporting the storage containers vertically between the port and the access station.
- the conveyor system may be arranged to transfer storage containers between different grids, e.g. as is described in WO2014/075937A1, the contents of which are incorporated herein by reference.
- WO2016/198467A1 disclose an example of a prior art access system having conveyor belts ( FIGS. 5 a and 5 b ) and a frame mounted track ( FIGS. 6 a and 6 b ) for transporting storage containers between ports and work stations where operators can access the storage containers.
- one of the container handling vehicles 9 is instructed to retrieve the target storage container from its position in the grid 4 and transport it to the drop-off port 19 .
- This operation involves moving the container handling vehicle to a grid location above the storage column in which the target storage container is positioned, retrieving the storage container from the storage column using the container handling vehicle's lifting device (not shown), and transporting the storage container to the drop-off port 19 . If the target storage container is located deep within a stack 7 , i.e. with one or a plurality of other storage containers positioned above the target storage container, the operation also involves temporarily moving the above-positioned storage containers prior to lifting the target storage container from the storage column.
- This step which is sometimes referred to as “digging” within the art, may be performed with the same container handling vehicle that is subsequently used for transporting the target storage container to the drop-off port 19 , or with one or a plurality of other cooperating container handling vehicles.
- the automated storage and retrieval system may have container handling vehicles specifically dedicated to the task of temporarily removing storage containers from a storage column. Once the target storage container has been removed from the storage column, the temporarily removed storage containers can be repositioned into the original storage column. However, the removed storage containers may alternatively be relocated to other storage columns.
- one of the container handling vehicles 9 is instructed to pick up the storage container from the pick-up port 20 and transport it to a grid location above the storage column where it is to be stored. After any storage containers positioned at or above the target position within the storage column stack have been removed, the container handling vehicle 9 positions the storage container at the desired position. The removed storage containers may then be lowered back into the storage column, or relocated to other storage columns.
- the automated storage and retrieval system For monitoring and controlling the automated storage and retrieval system, e.g. monitoring and controlling the location of respective storage containers within the grid 4 ; the content of each storage container 6 ; and the movement of the container handling vehicles 9 so that a desired storage container can be delivered to the desired location at the desired time without the container handling vehicles 9 colliding with each other, the automated storage and retrieval system comprises a control system (not shown in FIG. 1 ), which typically is computerised and comprises a database for keeping track of the storage containers.
- a problem associated with known automated storage and retrieval systems is that the area surrounding the ports may become congested with container handling vehicles instructed to drop off or pick up storage containers. This may seriously impede the operation of the automated storage and retrieval system. In small systems this situation may possibly be alleviated by adding ports to the grid, as this will allow the container handling vehicles to be distributed among a larger number of ports in order to avoid congestion.
- the conveyor system infrastructure must normally be increased. This requires space, which may not necessarily be available. Also, adding conveyor system infrastructure is costly.
- the grid comprises a plurality of transfer columns for temporarily storing storage containers when in transit between the storage columns and the at least one port, wherein the container handling vehicles are arranged to transport the storage containers between the storage columns and the transfer columns, and wherein a port access vehicle is arranged to transport the storage containers between the transfer columns and the at least one port in a plane located above the container handling vehicles.
- the method of operating the automated storage and retrieval system comprises the steps of:
- the container handling vehicles are utilised to transport the storage containers between the storage columns and the transfer columns, and a dedicated port access vehicle, which is capable of transporting the storage containers above the container handling vehicles, is utilised to shuttle storage containers between the transfer columns and the port.
- transfer columns can be located inside the grid, e.g. at a distance from the circumference of the grid, thus allowing the container handling vehicles access to the transfer columns from the X and Y directions.
- a port on the other hand, is normally located at the perimeter of the grid and, therefore, is normally only accessible from one direction.
- the port access vehicle comprises a plurality of container lifting and holding devices enabling simultaneous transport of a plurality of storage containers between the transfer columns and the at least one port.
- the number of transfer columns may be larger than the number of said at least one port.
- the transfer columns form a transfer zone and the at least one port form a port zone, wherein the transfer zone is adjacent the port zone.
- the transfer zone may be arranged at a distance from the port zone.
- the transfer zone may be arranged at a distance from the perimeter of the grid or, alternatively, the transfer zone may be arranged adjacent the perimeter of the grid.
- the port access vehicle comprises a first lifting and transfer device arranged to carry a storage container from one of the transfer columns to the at least one port, and a second lifting and transfer device arranged to carry a storage container from the at least one port to one of the transfer columns.
- the at least one port comprises at least one dedicated exit port, where storage containers are brought out of the grid to be accessed at an access station, and at least one dedicated entry port, where storage containers are brought back into the grid to be stored in the storage columns.
- the first lifting and transfer device may cater for transportation of storage containers from the transfer columns to the exit port
- the second lifting and transfer device may cater for transportation of storage containers from the entry port to the transfer columns.
- the plurality of transfer columns comprises a first set of transfer columns for temporarily storing storage containers when in transit from the storage columns to the at least one port, and a second set of transfer columns for temporarily storing storage containers when in transit from the at least one port to the storage columns.
- the port access vehicle may be operated on the grid, e.g. be arranged to travel along the rail system of the grid.
- the port access vehicle may be operated above the rail, e.g. on a rail structure, e.g. a monorail, arranged above the grid.
- the port access vehicle may comprise a plurality of vehicle sections which are connected one after the other in a train-like configuration, which vehicle sections each being configured to carry at least one storage container. This will allow the port access vehicle to easily be adopted to changing conditions in the grid.
- the grid may comprise a framework structure comprising a plurality of upright members and a plurality of horizontal members which are supported by the upright members, which horizontal members comprise a rail system arranged in a grid pattern comprising grid columns, on which rail system the plurality of container handling vehicles are operated.
- the port access vehicle is arranged to travel linearly on or above the grid along a row of said grid columns, i.e. in the X direction or the Y direction. This will provide for an efficient transport of storage containers between the transfer columns and the at least one port.
- the invention relates to a container handling system for transporting storage containers in an automated storage and retrieval system comprising:
- the second container handling vehicle may comprise a vehicle section comprising a vehicle body and a horizontal bar mounted to the vehicle body comprising a container lifting and holding device arranged to hold a storage containers in a raised, holding position when the second container handling vehicle transports the storage container across the grid, which vehicle body has a vertical extension which is sufficient to allow the lifting and holding device to hold the storage container in a holding position which is above said operating space of the first container handling vehicles.
- the container handling system may comprise an elevated rail structure supported by upright members, along which elevated rail structure the second container handling vehicle is arranged to travel, the second container handling vehicle comprising a vehicle section comprising a vehicle body and a horizontal bar mounted to the vehicle body comprising a container lifting and holding device arranged to hold a storage containers in a raised, holding position when the second container handling vehicle transports the storage container across the grid, which upright members have a vertical extension which is sufficient to allow the lifting and holding device to hold the storage container in a holding position which is above said operating space of the first container handling vehicles.
- the container handling system may comprise a plurality of said elevated rail structures and a plurality of said second container handling vehicles independently operable along the elevated rail structures.
- the second container handling vehicle may comprise a plurality of said vehicle sections connected in a train-like configuration.
- the container handling system may form a port access system for transporting storage containers between a transfer zone and a port zone of a three-dimensional grid of an automated storage and retrieval system, and the second container handling vehicle may form a port access vehicle of such a system being arranged to transport the storage containers between the transfer zone and the port zone.
- the container handling vehicles and the port access vehicle may be automated container handling vehicles, e.g. robots or robotic vehicles.
- FIG. 1 is a perspective view of a grid of a prior art automated storage and retrieval system.
- FIG. 2 is a perspective view of a prior art container handling vehicle.
- FIG. 3 is a top view of a prior art single rail grid.
- FIG. 4 is a top view of a prior art double rail grid.
- FIG. 5 is a top view of grid of an automated storage and retrieval system according to one embodiment of the invention.
- FIG. 6 is a perspective view of a first embodiment of a port access vehicle according to the invention.
- FIGS. 7 and 8 are orthogonal side views of a vehicle section of the port access vehicle according to FIG. 6 .
- FIG. 9 is a side view of the port access vehicle according to FIG. 6 .
- FIG. 10 is a top view of a port zone and part of a transfer zone of the grid according to FIG. 5 .
- FIG. 11 is a perspective view of a second embodiment of a port access vehicle according to the invention.
- FIGS. 12 and 13 are orthogonal side views of a vehicle section of the port access vehicle according to FIG. 11 .
- FIG. 14 is a side view of the port access vehicle according to FIG. 11 .
- FIG. 15 is a perspective view of a vehicle section of the port access vehicle according to FIG. 11 .
- FIG. 16 is a side view of a third embodiment of a port access vehicle according to the invention.
- FIG. 17 is a side view of a fourth embodiment of a port access vehicle according to the invention.
- FIG. 18 is a top view of a grid showing different embodiments of transfer zone configurations.
- FIG. 3 is a top view of a grid 4 of the automated storage and retrieval system.
- the grid 4 comprises a framework structure 1 comprising a plurality of upright members 2 (see FIG. 1 ) and a plurality of horizontal members 3 which are supported by the upright members.
- the upright and horizontal members may typically be made of metal, e.g. extruded aluminium profiles.
- the horizontal members 3 comprise a rail system 8 arranged in a grid pattern across the top of the storage columns, on which rail system 8 a plurality of container handling vehicles 9 are operated.
- the rail system 8 comprises a first set of parallel rails 10 arranged to guide movement of the container handling vehicles 9 in a first direction X across the top of the frame structure 1 , and a second set of parallel rails 11 arranged perpendicular to the first set 10 to guide movement of the container handling vehicles 9 in a second direction Y that is perpendicular to the first direction X.
- the rail system 8 defines grid columns 12 in the horizontal X-Y plane, above which grid columns 12 the container handling vehicles 9 can move horizontally in the X and Y directions. Consequently, the horizontal area of a grid column 12 , i.e. along the X and Y directions, may be defined by the distance between adjacent rails 10 and 11 , respectively (also see FIG. 4 ).
- the rail system 8 allows the container handling vehicles 9 to move horizontally in the X-Y plane between different grid locations, where each grid location is associated with a grid column 12 .
- the container handling vehicles 9 may be of any type of robot or automated container handling vehicle known in the art, e.g. any one of the automated container handling vehicles discussed in relation to FIGS. 1 and 2 . It may be advantageous, however, if each container handling vehicle 9 comprises a centrally located storage space for receiving and stowing a storage container 6 when transporting the storage container horizontally across the grid 4 , and a vertical projection, i.e. an extension in the X and Y directions, which is generally equal the horizontal extension of a grid column 12 . This will allow a container handling vehicle 9 to transport a storage container above a row of grid columns even if another container handling vehicle 9 occupies a location above a grid column neighbouring the grid column row along which the first container handling vehicle is traveling.
- the grid 4 comprises a storage zone 25 , two port zones 26 and two transfer or buffer zones 35 .
- Each port zone 26 which is, for example, three grid cells wide in the X direction and seven grid cells long in the Y direction, comprises ports 28 , 29 where storage containers can be transferred out of or into the grid 4 .
- Each transfer zone 35 the function of which is discussed in more detail below, is three grid cells wide (in the X direction) and 43 grid cells long (in the Y direction) in the example shown.
- the storage zone 25 which makes up the rest of the grid 4 , comprises storage columns 5 in which storage containers or bins 6 can be stacked one on top of another to form stacks 7 .
- the grid 4 in the example of FIG. 5 is 36 cells wide in the X direction and 50 cells long in the Y direction. In the Z direction (cf. FIG. 6 ), the grid 4 may have a height of five cells. It is understood, however, that the grid 4 , in principle, can be of any size. In particular, it is understood that grid 4 can be considerably wider and/or longer than disclosed in FIGS. 5 and 6 . For example, grid may have a horizontal extension of more than 600 ⁇ 600 grid cells. Also, the grid 4 can be considerably deeper than disclosed in FIG. 6 . For example, a grid may be more than 10 grid cells deep.
- FIG. 6 discloses a port zone 26 in more detail.
- Each port zone 26 comprises seven exit ports or exit port columns 28 through which the storage containers 6 can be brought out of the grid 4 to be accessed from outside of the grid 4 .
- Each port zone 26 also comprises entry ports or entry port columns 29 through which storage containers 6 can be brought into the grid 4 to be stored in the storage columns 5 .
- An access and transfer system 31 is arranged for transporting storage containers between the ports 28 , 29 and an access station 32 , which in the disclosed embodiment is a picking and stocking station.
- the access and transfer system 31 comprises a first conveyor 33 which is arranged underneath the exit ports 28 to transport storage containers from the exit ports 28 to the access station 32 , and a second conveyor 34 which is arranged underneath the entry ports 29 to transport storage containers from the access station 32 to the entry ports 29 .
- the rail system 8 extends into the port zones 26 of the grid 4 .
- Each transfer zone 35 comprises transfer columns 36 , 37 arranged to temporarily hold storage containers 6 when in transit between the storage zone 25 and the port zones 35 .
- the transfer columns include drop-off columns 36 where the container handling vehicles 9 can drop off storage containers retrieved from the grid 4 , and pick-up columns 37 where the container handling vehicles can pick up storage containers to be stored in the grid 4 .
- the drop-off columns 36 are arranged in a row 38 extending in the Y direction from the exit ports 28 .
- the pick-up transfer columns 37 are arranged in a row 39 extending in the Y direction from the entry ports 29 .
- An intermediate column row of grid columns 40 is positioned between rows 38 and 39 . In other words, the drop-off columns 36 and the pick-up columns 37 are separated by the intermediate column row 40 .
- Port access vehicles are operated above the grid 4 for transferring storage containers 6 between the transfer zones 35 and the port zones 26 .
- each port access vehicle is arranged to transfer storage containers above the operating plane of the container handling vehicles 9 , i.e. in a plane above the operating space of the container handling vehicles 9 , thus allowing the port access vehicle to transfer a storage container over a drop-off or pick-up transfer column 36 , 37 even if a container handling vehicle 9 occupies the grid location above that drop-off or pick-up transfer column 36 , 37 . Consequently, container handling vehicles 9 can be dropping off or picking up storage containers from drop-off or pick-up transfer columns 36 , 37 while the port access vehicle simultaneously transfers other storage containers between the transfer zone 36 and the port zone 26 above the container handling vehicles 9 .
- a first embodiment of a port access vehicle 45 will now be discussed in more detail with reference to FIGS. 6 to 10 .
- the port access vehicle 45 operates along the grid columns in row 40 (cf. FIG. 3 ), i.e. along a row of grid columns which extend into the grid from the port zone 26 .
- the port access vehicle 45 may comprise a plurality of vehicle sections 46 which are connected in a train-like configuration, i.e. one after the other (e.g. cf. FIG. 7 ).
- Each vehicle section 46 comprises a vehicle body 47 which has a footprint which generally corresponds to the lateral or horizontal extension of a grid column 12 , thus allowing the port access vehicle to pass between container handling vehicles which are dropping off or picking up storage containers in the transfer zone.
- a set of wheels 48 is mounted and configured to allow the vehicle section 46 to travel on the rail system 8 in the Y direction along row 40 .
- the set of wheels 48 of at least one the vehicle sections 46 is motorized in order to propel the port access vehicle 45 .
- the vehicle section 46 comprises a horizontal bar or frame 50 which is mounted to the top of the vehicle body 47 and extends horizontally from both sides of the vehicle body 47 orthogonal to the dedicated direction of travel of the vehicle section 46 , which dedicated direction of travel is defined by the set of wheels 48 .
- the horizontal bar 50 extends in the X direction (e.g. cf. FIG. 4 ).
- the horizontal bar 50 supports a container lifting and holding device 53 , 54 .
- Each lifting and holding device 53 , 54 comprises a container gripping device 51 , 52 , which can be lowered from the horizontal bar 50 to grip and hold a storage container.
- the gripping devices 51 , 52 can be individually lowered in order to pick up and drop off storage containers independently of each other.
- the lifting and holding devices 53 , 54 are arranged to hold storage containers in a raised, holding position when the port access vehicle transports the storage containers 6 between the transfer zone 35 and the port zone 26 .
- the vehicle body 47 of the vehicle sections 46 has a vertical extension which is sufficient to allow the lifting and holding devices 53 , 54 to hold the storage containers 6 in a holding position which is above the operating space of the container handling vehicles (e.g. cf. FIG. 6 ).
- one of the container handling vehicles 9 is instructed to retrieve the target storage container from its position in the grid 4 and transport it to one of the drop-off transfer columns 36 , i.e. to one of the grid columns in row 38 in the transfer zone 35 .
- This operation involves moving the container handling vehicle 9 to the grid location above the storage column in which the target storage container is positioned, retrieving the storage container from the storage column using the container handling vehicle's lifting device, and transporting the storage container to the intended drop-off transfer column 36 . If the target storage container is located deep within a stack, i.e.
- the operation also involves temporarily moving the above-positioned storage containers prior to lifting the target storage container from the storage column.
- This step may be performed with the same container handling vehicle that is subsequently used for transporting the target storage container to the drop-off transfer column 36 or, as is known in the art, with one or a plurality of other cooperating container handling vehicles.
- the automated storage and retrieval system may have container handling vehicles specifically dedicated to the task of temporarily removing storage containers from a storage column. Once the target storage container has been removed from the storage column, the temporarily removed storage containers can be repositioned into the original storage column or, alternatively, relocated to other storage columns.
- the port access vehicle 45 When the container handling vehicle 9 has positioned the target storage container in the drop-off transfer column 36 and left the transfer zone 35 , e.g. to retrieve another storage container from the grid 4 , the port access vehicle 45 is moved along row 40 and positioned with one of its vehicle sections 46 located above the grid column 41 in row 40 which is adjacent the drop-off transfer column 36 in which the container handling vehicle 9 has positioned the target storage container. The port access vehicle 45 then retrieves the target storage container from the drop-off transfer column 36 by lowering the gripping device 51 , gripping the target storage container and raising it to the transfer position, i.e. a position above the operating plane of the container handling vehicles 9 .
- the port access vehicle 45 is then moved along row 40 from the transfer zone 35 to the port zone 26 , where the port access vehicle 45 is positioned with the vehicle section 46 holding the target storage container located above a grid column 30 which is adjacent an exit port column 28 .
- the target storage container is then lowered into exit port column 28 and positioned on conveyor 33 , which transports the target storage container to the access station 32 .
- the target storage container is transferred back into the grid 4 to once again be stored in a storage column 5 in the storage zone 25 .
- This operation is essentially the reversal of the above-discussed operation of fetching a storage container from the grid and involves:
- the storage containers can be temporarily stored at different levels in different transfer columns. Also, in some applications it may be advantageous to simultaneously store more than one storage container in a transfer column. However, in such an application the port access vehicle needs to be configured to carry out a digging operation in order to retrieve a storage container temporarily stored below another temporarily stored storage container.
- the vehicle 45 can easily be adapted to different transfer zone sizes and/or port configurations by adding or removing vehicle sections 46 . Consequently, the port access vehicle 45 can be configured to simultaneously transfer a plurality of storage containers between the transfer zone 35 and the port zone 26 .
- gripping device 51 of all vehicle sections 46 can be employed to carry a storage container, e.g. as is shown in FIG. 6 .
- gripping device 52 of all vehicle sections 46 can be employed to carry a storage container.
- FIGS. 11 to 16 show a further embodiment of a port access vehicle 60 where the vehicle 60 is arranged to travel along an elevated rail structure 61 , e.g. a monorail, which is supported by upright members 62 .
- the rail structure 61 is arranged vertically above grid column row 40 (see FIG. 10 ), i.e. it extends in the Y direction above the transfer zone 35 .
- the port access vehicle 60 comprises a plurality of vehicle sections 63 which are connected in a train-like configuration, i.e. one after the other (e.g. cf. FIG. 11 ).
- Each vehicle section 63 comprises a vehicle body 64 .
- a first set of wheels 65 is mounted and configured to allow the vehicle section 63 to travel along the rail structure 61 .
- a second set of wheel 66 is configured to prevent the vehicle section 63 from derailing and falling down from the rail structure 61 .
- the first set of wheels 65 and/or the second set of wheels 66 of at least one the vehicle sections 63 is motorized in order to propel the port access vehicle 60 along the monorail 61 .
- the vehicle section 63 further comprises a horizontal bar or frame 68 which is mounted to the top of the vehicle body 64 and extends horizontally from both sides of the vehicle body 64 orthogonally to the dedicated direction of travel of the vehicle section 63 .
- the horizontal bar 68 will extend in the X direction (e.g. cf. FIG. 11 ).
- the horizontal bar 68 supports a storage container lifting and holding device 73 , 74 .
- Each lifting and holding device 73 , 74 comprises a container gripping device 69 , 70 , which is arranged to be lowered from the horizontal bar 68 to grip and hold a storage container.
- the gripping devices 69 , 70 can be individually lowered in order to pick up and drop off storage containers independently of each other.
- the lifting and holding devices 73 , 74 each comprises a telescopic member 71 from which the gripping device 69 , 70 is suspended (cf. FIG. 15 ).
- the telescopic members 71 are protected by protective structures 72 , which extend vertically from the horizontal bar 68 .
- the port access vehicle 60 generally operates in the same way as the previously described port access vehicle 45 with the difference that the port access vehicle 60 operates along an elevated rail structure 61 instead of on the grid rail system 8 .
- the rail structure 61 is mounted sufficiently high above the rail system 8 to allow storage containers 6 to be transferred between the transfer zone 35 and the port zone 26 in a plane located above the container handling vehicles 9 .
- FIG. 16 discloses a version of a port access vehicle 75 operated on an elevated rail structure where each gripping device of the port access vehicle 75 is capable of gripping and carrying two storage containers 6 simultaneously. This configuration requires that the transfer and port zones are (at least) five grid cells wide.
- FIG. 17 discloses yet another version of an elevated rail based system where three port access vehicle 80 , 81 , 82 are arranged for transferring storage containers between the a transfer zone and a port zone.
- the port access vehicles 80 , 81 , 82 are operating independently of one another above the container handling vehicles 9 , each port access vehicle 80 , 81 , 82 having its own rail structure 83 , 84 , 85 along which it operates.
- Port access vehicle 80 is arranged to operate above port access vehicles 82 and 83 , which operate at the same height but alongside each other.
- the rail structures 83 , 84 , 85 are supported by common upright members 86 .
- FIG. 18 is a top view of a grid 4 of an automated storage and retrieval system according to the invention where possible positions and shapes of transfer zones 35 and port zones 26 are indicated. Areas shaded dark grey indicate transfer zones 35 and areas shaded light grey indicate port zones 26 . Each port zone comprises ports 28 , 29 and each transfer zone 35 comprises transfer columns. Each transfer zone 35 is associated with at least one port zone 26 .
- White grid cells indicate storage columns 5 defining the grid's storage zone 25 .
- Automated container handling vehicles 9 are operated on the grid 4 as previously disclosed, i.e. to transport storage containers between the storage columns 5 and the transfer zones 35 , and double arrows extending along the port and transfer zones 26 , 35 indicate the operation of port access vehicle operating as previously disclosed, i.e. to transport the storage containers between the transfer zones 35 and the port zones 26 .
- the port access vehicles may for example be any one of the previously described port access vehicles 45 , 60 , 75 , 80 , 81 or 82 .
- the region labelled A shows a transfer zone 35 with a non-rectangular shape. Since the length of the transfer zone 35 in the Y direction exceeds three rows, the port access vehicle serving the transfer zone 35 should be configured with bars or frames extending or being extendable in the Y direction in order to access the outermost drop-off and pick-up transfer columns. The bars may for example be telescopically extendible bars.
- the region labelled B shows a squared-shaped transfer zone 35 which may be accessed by two port access vehicles, one operating in the X direction and one in the Y direction.
- the region labelled C shows a configuration where the port zone 26 does not form an extending portion of the grid 4 .
- the region labelled D shows a transfer zone 35 which is located adjacent the grid perimeter.
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Abstract
Description
- The present invention relates to an automated storage and retrieval system.
- In particular, the present invention relates to an automated storage and retrieval system comprising:
-
- a three-dimensional grid comprising a plurality of storage columns in which storage containers are stored one on top of another in vertical stacks, and at least one port through which the storage containers can be transferred out of and/or into the grid; and
- a plurality of container handling vehicles which are operated on the grid for retrieving storage containers from and storing storage containers in the storage columns, and for transporting the storage containers horizontally across the grid.
- The present invention also relates to a method of operating such an automated storage and retrieval system.
- The present invention also relates to container handling system for transporting storage containers in an automated storage and retrieval system.
-
FIG. 1 discloses aframework structure 1 of a typical prior art automated storage and retrieval system andFIG. 2 discloses a container handling vehicle of such a system. - The
framework structure 1 comprises a plurality ofupright members 2 and a plurality ofhorizontal members 3, which are supported by theupright members 2. Themembers - The
framework structure 1 defines astorage grid 4 comprisingstorage columns 5 arranged in rows, in whichstorage columns 5storage containers 6, also known as bins, are stacked one on top of another to formstacks 7. Eachstorage container 6 may typically hold a plurality of product items (not shown), and the product items within astorage container 6 may be identical, or may be of different product types depending on the application. Theframework structure 1 guards against horizontal movement of thestacks 7 ofstorage containers 6, and guides vertical movement of thecontainers 6, but does normally not otherwise support thestorage containers 6 when stacked. - The
horizontal members 3 comprise arail system 8 arranged in a grid pattern across the top of thestorage columns 5, on which rail system 8 a plurality of container handlingvehicles 9 are operated to raisestorage containers 6 from andlower storage containers 6 into thestorage columns 5, and also to transport thestorage containers 6 above thestorage columns 5. Therail system 8 comprises a first set ofparallel rails 10 arranged to guide movement of the container handlingvehicles 9 in a first direction X across the top of theframe structure 1, and a second set ofparallel rails 11 arranged perpendicular to the first set ofrails 10 to guide movement of the container handlingvehicles 9 in a second direction Y, which is perpendicular to the first direction X. In this way, therail system 8 definesgrid columns 12 above which the container handlingvehicles 9 can move laterally above thestorage columns 5, i.e. in a plane which is parallel to the horizontal X-Y plane. - Each
container handling vehicle 9 comprises avehicle body 13 and first and second sets ofwheels container handling vehicle 9, i.e. the movement in the X and Y directions. InFIG. 2 two wheels in each set are visible. The first set ofwheels 14 is arranged to engage with two adjacent rails of thefirst set 10 of rails, and the second set ofwheels 15 arranged to engage with two adjacent rails of thesecond set 11 of rails. At least one of the set ofwheels wheels 14 and/or the second set ofwheels 15 can be engaged with the respective set ofrails - Each
container handling vehicle 9 also comprises a lifting device (not shown inFIG. 1 ) for vertical transportation ofstorage containers 6, e.g. raising astorage container 6 from and lowering astorage container 6 into astorage column 5. The lifting device comprises a gripping device (not shown) which is adapted to engage astorage container 6, which gripping device can be lowered from thevehicle body 13 so that the position of the gripping device with respect to thevehicle body 13 can be adjusted in a third direction Z, which is orthogonal the first direction X and the second direction Y. - Conventionally, and also for the purpose of this application, Z=1 identifies the uppermost layer of the
grid 4, i.e. the layer immediately below therail system 8, Z=2 the second layer below therail system 8, Z=3 the third layer etc. In the embodiment disclosed inFIG. 1 , Z=8 identifies the lowermost, bottom layer of thegrid 4. Consequently, as an example and using the Cartesian coordinate system X, Y, Z indicated inFIG. 1 , the storage container identified as 7′ inFIG. 1 can be said to occupy grid location or cell X=10, Y=2, Z=3. The container handlingvehicles 9 can be said to travel in layer Z=0 and each grid column can be identified by its X and Y coordinates. - Each
container handling vehicle 9 comprises a storage compartment or space for receiving and stowing astorage container 6 when transporting thestorage container 6 across thegrid 4. The storage space may comprise a cavity arranged centrally within thevehicle body 13, e.g. as is described in WO2014/090684A1, the contents of which are incorporated herein by reference. - Alternatively, the container handling vehicles may have a cantilever construction, as is described in NO317366, the contents of which are also incorporated herein by reference.
- The container handling
vehicles 9 may have a footprint and vertical projection, i.e. an extension in the X and Y directions, i.e. in a horizontal extension, which is generally equal to the lateral or horizontal extension of agrid column 12, i.e. the extension of agrid column 12 in the X and Y directions, e.g. as is described in WO2015/193278A1, the contents of which are incorporated herein by reference. - Alternatively, the container handling
vehicles 9 may have a footprint and vertical projection which is larger than the lateral or horizontal extension of agrid column 12, e.g. as is disclosed in WO2014/090684A1. - The
rail system 8 may be a single rail system, as is shown inFIG. 3 . Alternatively, therail system 8 may be a double rail system, as is shown inFIG. 4 , thus allowing acontainer handling vehicle 9 having avertical projection 22 generally corresponding to the lateral extension of agrid column 12 to travel along a row of grid columns even if anothercontainer handling vehicle 9 is positioned above a grid column neighbouring that row. - In a storage grid, a majority of the
grid columns 12 arestorage columns 5, i.e. grid columns where storage containers are stored in stacks. However, a grid normally has at least one grid column which is used not for storing storage containers, but which comprises a location where the container handling vehicles can drop off and/or pick up storage containers so that they can be transported to an access station where the storage containers can be access from outside of the grid or transferred out of or into the grid. Within the art, such a location is normally referred to as a “port” and the grid column in which the port is located may be referred to as a port column. - The
grid 4 inFIG. 1 comprises twoport columns first port column 19 may for example be a dedicated drop-off port column where the container handlingvehicles 9 can drop off storage containers to be transported to an access or a transfer station (not shown), and thesecond port 20 column may be a dedicated pick-up port column where the container handlingvehicles 9 can pick up storage containers that have been transported to thegrid 4 from an access or a transfer station. - The access station may typically be a picking or a stocking station where product items are removed from or positioned into the storage containers. In a picking or a stocking station, the storage containers are normally never removed from the automated storage and retrieval system, but are returned back into the grid once accessed. A port can also be used for transferring storage containers out of or into the grid, e.g. for transferring storage containers to another storage facility (e.g. to another grid or to another automated storage and retrieval system), to a transport vehicle (e.g. a train or a lorry), or to a production facility.
- A conveyor system comprising conveyors is normally employed to transport the storage containers between the ports and the access station.
- If the port and the access station are located at different levels, the conveyor system may comprise a lift device for transporting the storage containers vertically between the port and the access station.
- The conveyor system may be arranged to transfer storage containers between different grids, e.g. as is described in WO2014/075937A1, the contents of which are incorporated herein by reference.
- WO2016/198467A1, the contents of which are incorporated herein by reference, disclose an example of a prior art access system having conveyor belts (
FIGS. 5a and 5b ) and a frame mounted track (FIGS. 6a and 6b ) for transporting storage containers between ports and work stations where operators can access the storage containers. - When a
storage container 6 stored in thegrid 4 disclosed inFIG. 1 is to be accessed, one of the container handlingvehicles 9 is instructed to retrieve the target storage container from its position in thegrid 4 and transport it to the drop-offport 19. This operation involves moving the container handling vehicle to a grid location above the storage column in which the target storage container is positioned, retrieving the storage container from the storage column using the container handling vehicle's lifting device (not shown), and transporting the storage container to the drop-offport 19. If the target storage container is located deep within astack 7, i.e. with one or a plurality of other storage containers positioned above the target storage container, the operation also involves temporarily moving the above-positioned storage containers prior to lifting the target storage container from the storage column. This step, which is sometimes referred to as “digging” within the art, may be performed with the same container handling vehicle that is subsequently used for transporting the target storage container to the drop-offport 19, or with one or a plurality of other cooperating container handling vehicles. Alternatively, or in addition, the automated storage and retrieval system may have container handling vehicles specifically dedicated to the task of temporarily removing storage containers from a storage column. Once the target storage container has been removed from the storage column, the temporarily removed storage containers can be repositioned into the original storage column. However, the removed storage containers may alternatively be relocated to other storage columns. - When a
storage container 6 is to be stored in thegrid 4, one of the container handlingvehicles 9 is instructed to pick up the storage container from the pick-up port 20 and transport it to a grid location above the storage column where it is to be stored. After any storage containers positioned at or above the target position within the storage column stack have been removed, thecontainer handling vehicle 9 positions the storage container at the desired position. The removed storage containers may then be lowered back into the storage column, or relocated to other storage columns. - For monitoring and controlling the automated storage and retrieval system, e.g. monitoring and controlling the location of respective storage containers within the
grid 4; the content of eachstorage container 6; and the movement of the container handlingvehicles 9 so that a desired storage container can be delivered to the desired location at the desired time without the container handlingvehicles 9 colliding with each other, the automated storage and retrieval system comprises a control system (not shown inFIG. 1 ), which typically is computerised and comprises a database for keeping track of the storage containers. - A problem associated with known automated storage and retrieval systems is that the area surrounding the ports may become congested with container handling vehicles instructed to drop off or pick up storage containers. This may seriously impede the operation of the automated storage and retrieval system. In small systems this situation may possibly be alleviated by adding ports to the grid, as this will allow the container handling vehicles to be distributed among a larger number of ports in order to avoid congestion. However, if ports are added, the conveyor system infrastructure must normally be increased. This requires space, which may not necessarily be available. Also, adding conveyor system infrastructure is costly.
- Furthermore, the current trend within the automated storage and retrieval system industry is that there is an increasing demand for larger storage grids. Since the number of storage containers stored in a grid generally scales as the volume of the grid, but the space available for ports generally scales as the surface of the grid, increasing the number of ports will not satisfactory solve the congestion problem when the grid size increases.
- In view of the above, it is desirable to provide an automated storage and retrieval system, and a method for operating such a system, that solve or at least mitigate the aforementioned problem related to congestion of container handling vehicles at the ports.
- According to one aspect of the invention, the grid comprises a plurality of transfer columns for temporarily storing storage containers when in transit between the storage columns and the at least one port, wherein the container handling vehicles are arranged to transport the storage containers between the storage columns and the transfer columns, and wherein a port access vehicle is arranged to transport the storage containers between the transfer columns and the at least one port in a plane located above the container handling vehicles.
- According to another aspect of the invention, the method of operating the automated storage and retrieval system comprises the steps of:
-
- arranging, in the grid, a transfer zone comprising a plurality of transfer columns for temporarily storing storage containers when in transit between the storage columns and the at least one port;
- utilising the container handling vehicles, transporting the storage containers between the storage columns and the transfer columns; and
- utilising a port access vehicle which is operated on or above the grid, transporting the storage containers between the transfer columns and the at least one port in a plane which is located above the container handling vehicles.
- Consequently, according to the invention the container handling vehicles are utilised to transport the storage containers between the storage columns and the transfer columns, and a dedicated port access vehicle, which is capable of transporting the storage containers above the container handling vehicles, is utilised to shuttle storage containers between the transfer columns and the port.
- As compared to providing more ports to alleviate a congestion problem, it is easy to increase the number of transfer columns in the grid. Furthermore, transfer columns can be located inside the grid, e.g. at a distance from the circumference of the grid, thus allowing the container handling vehicles access to the transfer columns from the X and Y directions. A port, on the other hand, is normally located at the perimeter of the grid and, therefore, is normally only accessible from one direction.
- By transporting the storage containers between the transfer columns and the port in a plane which is located above the container handling vehicles, i.e. above the plane where the container handling vehicles travel across the grid, any interference on the transfer of the storage containers between the transfer columns and the port may have on the movement of the container handling vehicles will be minimised.
- In order to increase the capacity of the port access vehicle, it may be advantageous if the port access vehicle comprises a plurality of container lifting and holding devices enabling simultaneous transport of a plurality of storage containers between the transfer columns and the at least one port.
- The number of transfer columns may be larger than the number of said at least one port.
- It may be advantageous if the transfer columns form a transfer zone and the at least one port form a port zone, wherein the transfer zone is adjacent the port zone. Alternatively, the transfer zone may be arranged at a distance from the port zone.
- The transfer zone may be arranged at a distance from the perimeter of the grid or, alternatively, the transfer zone may be arranged adjacent the perimeter of the grid.
- It may be advantageous if the port access vehicle comprises a first lifting and transfer device arranged to carry a storage container from one of the transfer columns to the at least one port, and a second lifting and transfer device arranged to carry a storage container from the at least one port to one of the transfer columns. This may be particularly advantageous if the at least one port comprises at least one dedicated exit port, where storage containers are brought out of the grid to be accessed at an access station, and at least one dedicated entry port, where storage containers are brought back into the grid to be stored in the storage columns. In such a case, the first lifting and transfer device may cater for transportation of storage containers from the transfer columns to the exit port, and the second lifting and transfer device may cater for transportation of storage containers from the entry port to the transfer columns.
- Also, it may be advantageous if the plurality of transfer columns comprises a first set of transfer columns for temporarily storing storage containers when in transit from the storage columns to the at least one port, and a second set of transfer columns for temporarily storing storage containers when in transit from the at least one port to the storage columns.
- The port access vehicle may be operated on the grid, e.g. be arranged to travel along the rail system of the grid.
- Alternatively, the port access vehicle may be operated above the rail, e.g. on a rail structure, e.g. a monorail, arranged above the grid.
- The port access vehicle may comprise a plurality of vehicle sections which are connected one after the other in a train-like configuration, which vehicle sections each being configured to carry at least one storage container. This will allow the port access vehicle to easily be adopted to changing conditions in the grid.
- The grid may comprise a framework structure comprising a plurality of upright members and a plurality of horizontal members which are supported by the upright members, which horizontal members comprise a rail system arranged in a grid pattern comprising grid columns, on which rail system the plurality of container handling vehicles are operated. In such a grid, it may be advantageous if the port access vehicle is arranged to travel linearly on or above the grid along a row of said grid columns, i.e. in the X direction or the Y direction. This will provide for an efficient transport of storage containers between the transfer columns and the at least one port.
- In the following description, numerous specific details are introduced by way of example only to provide a thorough understanding of embodiments of the claimed system and method. One skilled in the relevant art, however, will recognize that these embodiments can be practiced without one or more of the specific details, or with other components, systems, etc. In other instances, well-known structures or operations are not shown, or are not described in detail, to avoid obscuring aspects of the disclosed embodiments.
- According to yet another aspect, the invention relates to a container handling system for transporting storage containers in an automated storage and retrieval system comprising:
-
- a three-dimensional grid comprising a plurality of storage columns in which storage containers are stored one on top of another in vertical stacks; and
- a plurality of first container handling vehicles which are operated on the grid for retrieving storage containers from and storing storage containers in the storage columns, and for transporting the storage containers horizontally across the grid;
wherein the container handling system comprises a second container handling vehicle being arranged for transporting the storage containers horizontally across the grid in a plane which is above the operating space of the first container handling vehicles.
- The second container handling vehicle may comprise a vehicle section comprising a vehicle body and a horizontal bar mounted to the vehicle body comprising a container lifting and holding device arranged to hold a storage containers in a raised, holding position when the second container handling vehicle transports the storage container across the grid, which vehicle body has a vertical extension which is sufficient to allow the lifting and holding device to hold the storage container in a holding position which is above said operating space of the first container handling vehicles.
- The container handling system may comprise an elevated rail structure supported by upright members, along which elevated rail structure the second container handling vehicle is arranged to travel, the second container handling vehicle comprising a vehicle section comprising a vehicle body and a horizontal bar mounted to the vehicle body comprising a container lifting and holding device arranged to hold a storage containers in a raised, holding position when the second container handling vehicle transports the storage container across the grid, which upright members have a vertical extension which is sufficient to allow the lifting and holding device to hold the storage container in a holding position which is above said operating space of the first container handling vehicles.
- The container handling system may comprise a plurality of said elevated rail structures and a plurality of said second container handling vehicles independently operable along the elevated rail structures.
- The second container handling vehicle may comprise a plurality of said vehicle sections connected in a train-like configuration.
- The container handling system may form a port access system for transporting storage containers between a transfer zone and a port zone of a three-dimensional grid of an automated storage and retrieval system, and the second container handling vehicle may form a port access vehicle of such a system being arranged to transport the storage containers between the transfer zone and the port zone.
- The container handling vehicles and the port access vehicle may be automated container handling vehicles, e.g. robots or robotic vehicles.
- Following drawings are appended to facilitate the understanding of the invention.
-
FIG. 1 is a perspective view of a grid of a prior art automated storage and retrieval system. -
FIG. 2 is a perspective view of a prior art container handling vehicle. -
FIG. 3 is a top view of a prior art single rail grid. -
FIG. 4 is a top view of a prior art double rail grid. -
FIG. 5 is a top view of grid of an automated storage and retrieval system according to one embodiment of the invention. -
FIG. 6 is a perspective view of a first embodiment of a port access vehicle according to the invention. -
FIGS. 7 and 8 are orthogonal side views of a vehicle section of the port access vehicle according toFIG. 6 . -
FIG. 9 is a side view of the port access vehicle according toFIG. 6 . -
FIG. 10 is a top view of a port zone and part of a transfer zone of the grid according toFIG. 5 . -
FIG. 11 is a perspective view of a second embodiment of a port access vehicle according to the invention. -
FIGS. 12 and 13 are orthogonal side views of a vehicle section of the port access vehicle according toFIG. 11 . -
FIG. 14 is a side view of the port access vehicle according toFIG. 11 . -
FIG. 15 is a perspective view of a vehicle section of the port access vehicle according toFIG. 11 . -
FIG. 16 is a side view of a third embodiment of a port access vehicle according to the invention. -
FIG. 17 is a side view of a fourth embodiment of a port access vehicle according to the invention. -
FIG. 18 is a top view of a grid showing different embodiments of transfer zone configurations. - In the drawings, like reference numerals have been used to indicate like parts, elements or features unless otherwise explicitly stated or implicitly understood from the context.
- In the following, embodiments of the invention will be discussed in more detail with reference to the appended drawings. It should be understood, however, that the drawings are not intended to limit the invention to the subject-matter depicted in the drawings.
- An embodiment of an automated storage and retrieval system according to the invention will now be discussed in more detail with reference to
FIG. 5 . -
FIG. 3 is a top view of agrid 4 of the automated storage and retrieval system. Thegrid 4 comprises aframework structure 1 comprising a plurality of upright members 2 (seeFIG. 1 ) and a plurality ofhorizontal members 3 which are supported by the upright members. As is known in the art, the upright and horizontal members may typically be made of metal, e.g. extruded aluminium profiles. - The
horizontal members 3 comprise arail system 8 arranged in a grid pattern across the top of the storage columns, on which rail system 8 a plurality ofcontainer handling vehicles 9 are operated. - The
rail system 8 comprises a first set ofparallel rails 10 arranged to guide movement of thecontainer handling vehicles 9 in a first direction X across the top of theframe structure 1, and a second set ofparallel rails 11 arranged perpendicular to the first set 10 to guide movement of thecontainer handling vehicles 9 in a second direction Y that is perpendicular to the first direction X. In this way, therail system 8 definesgrid columns 12 in the horizontal X-Y plane, above whichgrid columns 12 thecontainer handling vehicles 9 can move horizontally in the X and Y directions. Consequently, the horizontal area of agrid column 12, i.e. along the X and Y directions, may be defined by the distance betweenadjacent rails FIG. 4 ). - Consequently, the
rail system 8 allows thecontainer handling vehicles 9 to move horizontally in the X-Y plane between different grid locations, where each grid location is associated with agrid column 12. - The
container handling vehicles 9 may be of any type of robot or automated container handling vehicle known in the art, e.g. any one of the automated container handling vehicles discussed in relation toFIGS. 1 and 2 . It may be advantageous, however, if eachcontainer handling vehicle 9 comprises a centrally located storage space for receiving and stowing astorage container 6 when transporting the storage container horizontally across thegrid 4, and a vertical projection, i.e. an extension in the X and Y directions, which is generally equal the horizontal extension of agrid column 12. This will allow acontainer handling vehicle 9 to transport a storage container above a row of grid columns even if anothercontainer handling vehicle 9 occupies a location above a grid column neighbouring the grid column row along which the first container handling vehicle is traveling. - In the disclosed embodiment, the
grid 4 comprises astorage zone 25, twoport zones 26 and two transfer orbuffer zones 35. Eachport zone 26, which is, for example, three grid cells wide in the X direction and seven grid cells long in the Y direction, comprisesports grid 4. Eachtransfer zone 35, the function of which is discussed in more detail below, is three grid cells wide (in the X direction) and 43 grid cells long (in the Y direction) in the example shown. Thestorage zone 25, which makes up the rest of thegrid 4, comprisesstorage columns 5 in which storage containers orbins 6 can be stacked one on top of another to form stacks 7. - Not including the
port zones 26, thegrid 4 in the example ofFIG. 5 is 36 cells wide in the X direction and 50 cells long in the Y direction. In the Z direction (cf.FIG. 6 ), thegrid 4 may have a height of five cells. It is understood, however, that thegrid 4, in principle, can be of any size. In particular, it is understood thatgrid 4 can be considerably wider and/or longer than disclosed inFIGS. 5 and 6 . For example, grid may have a horizontal extension of more than 600×600 grid cells. Also, thegrid 4 can be considerably deeper than disclosed inFIG. 6 . For example, a grid may be more than 10 grid cells deep. -
FIG. 6 discloses aport zone 26 in more detail. Eachport zone 26 comprises seven exit ports or exitport columns 28 through which thestorage containers 6 can be brought out of thegrid 4 to be accessed from outside of thegrid 4. Eachport zone 26 also comprises entry ports orentry port columns 29 through whichstorage containers 6 can be brought into thegrid 4 to be stored in thestorage columns 5. An access andtransfer system 31 is arranged for transporting storage containers between theports access station 32, which in the disclosed embodiment is a picking and stocking station. The access andtransfer system 31 comprises afirst conveyor 33 which is arranged underneath theexit ports 28 to transport storage containers from theexit ports 28 to theaccess station 32, and asecond conveyor 34 which is arranged underneath theentry ports 29 to transport storage containers from theaccess station 32 to theentry ports 29. - The
rail system 8 extends into theport zones 26 of thegrid 4. - Each
transfer zone 35 comprisestransfer columns storage containers 6 when in transit between thestorage zone 25 and theport zones 35. The transfer columns include drop-offcolumns 36 where thecontainer handling vehicles 9 can drop off storage containers retrieved from thegrid 4, and pick-upcolumns 37 where the container handling vehicles can pick up storage containers to be stored in thegrid 4. - The drop-off
columns 36 are arranged in arow 38 extending in the Y direction from theexit ports 28. The pick-uptransfer columns 37 are arranged in arow 39 extending in the Y direction from theentry ports 29. An intermediate column row ofgrid columns 40 is positioned betweenrows columns 36 and the pick-upcolumns 37 are separated by theintermediate column row 40. - In the disclosed embodiment, the drop-off
columns 36 and the pick-upcolumns 37 occupy positions Y=1 to Y=43 in eachrow columns 36 and the pick-upcolumns 37 are 43 grid cells long, i.e. they extend 43 grid cells into thetransfer zone 35. Since the number of drop-off and pick-upcolumns ports container handling vehicle 9 not finding a vacant drop-off column 36 where to deliver a storage container is low. - Port access vehicles are operated above the
grid 4 for transferringstorage containers 6 between thetransfer zones 35 and theport zones 26. As will be discussed in more detail in the following, each port access vehicle is arranged to transfer storage containers above the operating plane of thecontainer handling vehicles 9, i.e. in a plane above the operating space of thecontainer handling vehicles 9, thus allowing the port access vehicle to transfer a storage container over a drop-off or pick-uptransfer column container handling vehicle 9 occupies the grid location above that drop-off or pick-uptransfer column container handling vehicles 9 can be dropping off or picking up storage containers from drop-off or pick-uptransfer columns transfer zone 36 and theport zone 26 above thecontainer handling vehicles 9. - A first embodiment of a
port access vehicle 45 will now be discussed in more detail with reference toFIGS. 6 to 10 . - The
port access vehicle 45 operates along the grid columns in row 40 (cf.FIG. 3 ), i.e. along a row of grid columns which extend into the grid from theport zone 26. Theport access vehicle 45 may comprise a plurality ofvehicle sections 46 which are connected in a train-like configuration, i.e. one after the other (e.g. cf.FIG. 7 ). Eachvehicle section 46 comprises avehicle body 47 which has a footprint which generally corresponds to the lateral or horizontal extension of agrid column 12, thus allowing the port access vehicle to pass between container handling vehicles which are dropping off or picking up storage containers in the transfer zone. At the lower end of thevehicle body 47, a set ofwheels 48 is mounted and configured to allow thevehicle section 46 to travel on therail system 8 in the Y direction alongrow 40. - In the train of
vehicle sections 46 making up theport access vehicle 45, the set ofwheels 48 of at least one thevehicle sections 46 is motorized in order to propel theport access vehicle 45. - The
vehicle section 46 comprises a horizontal bar orframe 50 which is mounted to the top of thevehicle body 47 and extends horizontally from both sides of thevehicle body 47 orthogonal to the dedicated direction of travel of thevehicle section 46, which dedicated direction of travel is defined by the set ofwheels 48. In other words, when in operation on thegrid 4, thehorizontal bar 50 extends in the X direction (e.g. cf.FIG. 4 ). On both sides of thevehicle body 47, thehorizontal bar 50 supports a container lifting and holdingdevice device container gripping device horizontal bar 50 to grip and hold a storage container. Thegripping devices - The lifting and holding
devices storage containers 6 between thetransfer zone 35 and theport zone 26. Thevehicle body 47 of thevehicle sections 46 has a vertical extension which is sufficient to allow the lifting and holdingdevices storage containers 6 in a holding position which is above the operating space of the container handling vehicles (e.g. cf.FIG. 6 ). - When a
storage container 6 stored in thegrid 4 is to be accessed at theaccess station 32, one of thecontainer handling vehicles 9 is instructed to retrieve the target storage container from its position in thegrid 4 and transport it to one of the drop-off transfer columns 36, i.e. to one of the grid columns inrow 38 in thetransfer zone 35. This operation involves moving thecontainer handling vehicle 9 to the grid location above the storage column in which the target storage container is positioned, retrieving the storage container from the storage column using the container handling vehicle's lifting device, and transporting the storage container to the intended drop-off transfer column 36. If the target storage container is located deep within a stack, i.e. with one or a plurality of other storage containers positioned above the target storage container, the operation also involves temporarily moving the above-positioned storage containers prior to lifting the target storage container from the storage column. This step may be performed with the same container handling vehicle that is subsequently used for transporting the target storage container to the drop-off transfer column 36 or, as is known in the art, with one or a plurality of other cooperating container handling vehicles. Alternatively, or in addition, as is also known in the art, the automated storage and retrieval system may have container handling vehicles specifically dedicated to the task of temporarily removing storage containers from a storage column. Once the target storage container has been removed from the storage column, the temporarily removed storage containers can be repositioned into the original storage column or, alternatively, relocated to other storage columns. - When the
container handling vehicle 9 has positioned the target storage container in the drop-off transfer column 36 and left thetransfer zone 35, e.g. to retrieve another storage container from thegrid 4, theport access vehicle 45 is moved alongrow 40 and positioned with one of itsvehicle sections 46 located above thegrid column 41 inrow 40 which is adjacent the drop-off transfer column 36 in which thecontainer handling vehicle 9 has positioned the target storage container. Theport access vehicle 45 then retrieves the target storage container from the drop-off transfer column 36 by lowering thegripping device 51, gripping the target storage container and raising it to the transfer position, i.e. a position above the operating plane of thecontainer handling vehicles 9. - The
port access vehicle 45 is then moved alongrow 40 from thetransfer zone 35 to theport zone 26, where theport access vehicle 45 is positioned with thevehicle section 46 holding the target storage container located above agrid column 30 which is adjacent anexit port column 28. The target storage container is then lowered intoexit port column 28 and positioned onconveyor 33, which transports the target storage container to theaccess station 32. - Once accessed at the
access station 32, the target storage container is transferred back into thegrid 4 to once again be stored in astorage column 5 in thestorage zone 25. This operation is essentially the reversal of the above-discussed operation of fetching a storage container from the grid and involves: -
- transporting the target storage container from the
access station 32 to one of theentry port columns 29 usingconveyor 34; - positioning the
port access vehicle 45 in theport zone 26 with thevehicle body 47 of one of thevehicle sections 46 located above a grid column adjacententry port column 29, - lowering the
gripping device 52 of thevehicle section 46 into theentry port column 29, engaging the target storage container and lifting it to the transfer position; - moving the
port access vehicle 45 alongrow 40 from theport zone 26 to thetransfer zone 35, where theport access vehicle 45 is positioned so that thevehicle body 47 of thevehicle section 46 holding the target storage container becomes located above agrid column 41 adjacent a pick-uptransfer column 37; - lowering the target storage container into the pick-up
transfer column 37; - instructing a
container handling vehicle 9 to move to the pick-up column 37 and retrieve the target storage container; and - moving the
container handling vehicle 9 to the storage column where the target storage container is to be stored and positioning the target storage container in its intended position in the stack.
- transporting the target storage container from the
- In the drop-off and pick-up
transfer columns transfer zone 35, which will allow for rapid turnaround of the storage containers temporarily stored therein. - In order to allow the storage containers to be temporarily stored in the uppermost layer in the transfer zone, each
transfer column devices 57, e.g. clamps attached to the upright members 2 (seeFIG. 6 ) surrounding each transfer column, which clamps prevent thestorage container 6 from being lowered into the transfer column beyond level Z=1. Of course, the clamps can be attached to the upright members deeper down the transfer column, thus allowing the storage containers to be temporarily stored at deeper levels than Z=1. - The storage containers can be temporarily stored at different levels in different transfer columns. Also, in some applications it may be advantageous to simultaneously store more than one storage container in a transfer column. However, in such an application the port access vehicle needs to be configured to carry out a digging operation in order to retrieve a storage container temporarily stored below another temporarily stored storage container.
- Due to the modular character of the
port access vehicle 45, thevehicle 45 can easily be adapted to different transfer zone sizes and/or port configurations by adding or removingvehicle sections 46. Consequently, theport access vehicle 45 can be configured to simultaneously transfer a plurality of storage containers between thetransfer zone 35 and theport zone 26. For example, when traveling from thetransfer zone 35 to theport zone 26, grippingdevice 51 of allvehicle sections 46 can be employed to carry a storage container, e.g. as is shown inFIG. 6 . Likewise, when traveling from theport zone 26 to thetransfer zone 35, grippingdevice 52 of allvehicle sections 46 can be employed to carry a storage container. -
FIGS. 11 to 16 show a further embodiment of aport access vehicle 60 where thevehicle 60 is arranged to travel along anelevated rail structure 61, e.g. a monorail, which is supported byupright members 62. In the disclosed example, therail structure 61 is arranged vertically above grid column row 40 (seeFIG. 10 ), i.e. it extends in the Y direction above thetransfer zone 35. - The
port access vehicle 60 comprises a plurality ofvehicle sections 63 which are connected in a train-like configuration, i.e. one after the other (e.g. cf.FIG. 11 ). Eachvehicle section 63 comprises avehicle body 64. At the lower end of thevehicle body 64, a first set ofwheels 65 is mounted and configured to allow thevehicle section 63 to travel along therail structure 61. A second set ofwheel 66 is configured to prevent thevehicle section 63 from derailing and falling down from therail structure 61. - In the train of
vehicle sections 63 making up theport access vehicle 60, the first set ofwheels 65 and/or the second set ofwheels 66 of at least one thevehicle sections 63 is motorized in order to propel theport access vehicle 60 along themonorail 61. - The
vehicle section 63 further comprises a horizontal bar orframe 68 which is mounted to the top of thevehicle body 64 and extends horizontally from both sides of thevehicle body 64 orthogonally to the dedicated direction of travel of thevehicle section 63. In other words, when theport access vehicle 60 is in operation, thehorizontal bar 68 will extend in the X direction (e.g. cf.FIG. 11 ). On both sides of thevehicle body 64, thehorizontal bar 68 supports a storage container lifting and holdingdevice device container gripping device horizontal bar 68 to grip and hold a storage container. Thegripping devices - In the present embodiment, the lifting and holding
devices telescopic member 71 from which thegripping device FIG. 15 ). When retracted, thetelescopic members 71 are protected byprotective structures 72, which extend vertically from thehorizontal bar 68. - The
port access vehicle 60 generally operates in the same way as the previously describedport access vehicle 45 with the difference that theport access vehicle 60 operates along anelevated rail structure 61 instead of on thegrid rail system 8. - The
rail structure 61 is mounted sufficiently high above therail system 8 to allowstorage containers 6 to be transferred between thetransfer zone 35 and theport zone 26 in a plane located above thecontainer handling vehicles 9. -
FIG. 16 discloses a version of aport access vehicle 75 operated on an elevated rail structure where each gripping device of theport access vehicle 75 is capable of gripping and carrying twostorage containers 6 simultaneously. This configuration requires that the transfer and port zones are (at least) five grid cells wide. -
FIG. 17 discloses yet another version of an elevated rail based system where threeport access vehicle port access vehicles container handling vehicles 9, eachport access vehicle own rail structure Port access vehicle 80 is arranged to operate aboveport access vehicles rail structures -
FIG. 18 is a top view of agrid 4 of an automated storage and retrieval system according to the invention where possible positions and shapes oftransfer zones 35 andport zones 26 are indicated. Areas shaded dark grey indicatetransfer zones 35 and areas shaded light grey indicateport zones 26. Each port zone comprisesports transfer zone 35 comprises transfer columns. Eachtransfer zone 35 is associated with at least oneport zone 26. White grid cells indicatestorage columns 5 defining the grid'sstorage zone 25. Automatedcontainer handling vehicles 9 are operated on thegrid 4 as previously disclosed, i.e. to transport storage containers between thestorage columns 5 and thetransfer zones 35, and double arrows extending along the port and transferzones transfer zones 35 and theport zones 26. The port access vehicles may for example be any one of the previously describedport access vehicles - The region labelled A shows a
transfer zone 35 with a non-rectangular shape. Since the length of thetransfer zone 35 in the Y direction exceeds three rows, the port access vehicle serving thetransfer zone 35 should be configured with bars or frames extending or being extendable in the Y direction in order to access the outermost drop-off and pick-up transfer columns. The bars may for example be telescopically extendible bars. The region labelled B shows a squared-shapedtransfer zone 35 which may be accessed by two port access vehicles, one operating in the X direction and one in the Y direction. The region labelled C shows a configuration where theport zone 26 does not form an extending portion of thegrid 4. The region labelled D shows atransfer zone 35 which is located adjacent the grid perimeter. - In the preceding description, various aspects of an automated storage and retrieval system according to the invention have been described with reference to the illustrative embodiment. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiment, as well as other embodiments of the system, which are apparent to persons skilled in the art, are deemed to lie within the scope of the present invention as defined by the following claims.
-
Reference Numerals 1 framework structure 2 upright member 3 horizontal member 4 grid 5 storage column 6 storage container 7 stack 8 rail system 9 container handling vehicle 10 first set of parallel rails 11 second set of parallel rails 12 grid column 13 vehicle body 14 first set of wheels 15 second set of wheels 16 lifting device 17 gripping device 18 storage compartment, space 19 port column, drop-off port 20 port column, pick-up port 22 vertical projection 25 storage zone 26 port zone 28 exit port, port column 29 entry port, port column 30 grid column 31 access and transfer system 32 access station, picking and stocking station 33 first conveyor 34 second conveyor 35 transfer zone 36 drop-off column 37 pick-up column 38 row of columns 39 row of columns 40 intermediate column row 45 port access vehicle, second container handling vehicle 46 vehicle section 47 vehicle body 48 set of wheels 50 horizontal bar or frame 51 container gripping device 52 container gripping device 53 lifting and holding device 54 lifting and holding device 57 stopping device, clamp 60 port access vehicle, second container handling vehicle 61 rail structure, monorail 62 upright member 63 vehicle section 64 vehicle body 65 set of wheels 66 set of wheels 68 horizontal bar or frame 69 container gripping device 70 container gripping device 71 telescopic member 72 protective structure 73 lifting and holding device 74 lifting and holding device 75 port access vehicle, second container handling vehicle 76 rail structure 80 port access vehicle, second container handling vehicle 81 port access vehicle, second container handling vehicle 82 port access vehicle, second container handling vehicle 83 rail structure, monorail 84 rail structure, monorail 85 rail structure, monorail 86 upright member 90 container handling system, port access system
Claims (21)
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NO20170360A NO343300B1 (en) | 2017-03-10 | 2017-03-10 | Automated storage and retrieval system and method of operating the same |
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Also Published As
Publication number | Publication date |
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CN110612259A (en) | 2019-12-24 |
CA3055672A1 (en) | 2018-09-13 |
NO20170360A1 (en) | 2018-09-11 |
EP3592667A1 (en) | 2020-01-15 |
WO2018162757A1 (en) | 2018-09-13 |
US11167921B2 (en) | 2021-11-09 |
JP2020509978A (en) | 2020-04-02 |
NO343300B1 (en) | 2019-01-21 |
JP7057370B2 (en) | 2022-04-19 |
CN110612259B (en) | 2022-03-04 |
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